Vehicle driving support system, and steering angle detection device

ABSTRACT

A camera unit  10  is mounted on a vehicle  3 . When an attempt is made to park the vehicle  3  in a parking lot, a predicted path  5   a  and guidelines  5   b  are displayed on an information display  4  together with an image. Data to be used for displaying the predicted path  5   a  and the guidelines  5   b  are stored beforehand in internal memory of an image processing circuit  19  provided in a parking assist ECU  6  so that the data can be selected in accordance with specifications, such as the type of the vehicle  3 . The predicted path  5   a  is computed on the basis of a steering angle detected by a steering angle sensor provided in an exposed portion of the steering shaft  11 . The length or color of the predicted path  5   a  is changed in accordance with the speed of the vehicle  3 . Further, a vehicle driving support system is provided with a back sonar  17 , and hence the length or color of the predicted path  5   a  is also changed in accordance with the result of detection of an obstacle.

BACKGROUND OF THE INVENTION

1. Field of Invention

The present invention relates to a driving support system which displaysinformation for supporting the operation of a vehicle in conjunctionwith an image showing a view toward the direction in which the vehicleis traveling. Further, the present invention relates to a steering angledetection device for detecting a steering angle of the vehicle on thebasis of driving support information.

2. Description of Related Art

Sufficient ascertaining of the surroundings of a vehicle is necessaryfor accomplishing safe driving. The driver ascertains the surroundingsof his vehicle primarily by means of the sense of sight. Since thedriver has to look outside the vehicle from the driver's seat in thevehicle's cabin, the driver's field of view is obstructed by the vehiclebody. In order to ensure the driver's field of view, a proposal hashitherto been made for supporting a driver's operation by means ofdisplaying an image of the outside of the vehicle on a display panellocated in the vicinity of the driver's seat, through use of an imagepick-up device, such as a video camera, attached to the vehicle.

The present inventor has hitherto made various proposals for supportingsuch an image-based driver's operation, as described in, for example,Japanese Patent Application Laid-Open Nos. 288255/1998, 301207/1998,301208/1998, 353425/1998, 353426/1998, and 179718/1999.

Vehicle driving support is effective particularly when an attempt ismade to park a vehicle. As a conventional art technique for supporting adriver's parking operation, for example, Japanese Patent ApplicationLaid-Open No. 14700/1989 describes a technique of displaying, on ascreen, an image concerning a rearward or rear oblique when the vehicleis rolling backward and a predicted path of the vehicle. According tothe prior technique, an image of predicted path based on a steeringangle of the vehicle is displayed with and is superimposed on a rearviewimage. Accordingly, it is predicted that the driver can simultaneouslyascertain a steering angle and the rearward safety of the vehicle. Thereis also described the idea of displaying the contour of a vehicle so asto be superimposed on the vehicle's predicted path, thereby facilitatingthe driver's intuitive ascertainment of distance. Further, JapanesePatent Application Laid-Open No. 44799/1995 describes a conventional arttechnique of detecting the length of a parking space through use ofvarious sensors and assisting a driver's operation by means of informingthe driver of whether or not the vehicle can be parked in the parkingspace in a case where the driver attempts to park his vehicle betweenvehicles arranged end to end or put his vehicle into a garage. Thepatent application also describes that the amount of steering operationis computed from data pertaining to the position of a parking space anddata pertaining to the characteristics of a vehicle, to thereby providea display for driving support purpose or perform an automatic controloperation.

Conventional art techniques for supporting driving operations by meansof capturing an image of surroundings of a vehicle are described in, forexample, Japanese Utility Model Application Laid-Open No. 150044/1982and Japanese Patent Application Laid-Open Nos. 239400/1992, 143894/1993,255423/1994, 192199/1995, 257482/1998, and 283592/1998.

Japanese Utility Model Application Laid-Open No. 150044/1982 describesthe technique of supporting driving operation by means of switching ascreen of a display from a normal screen image for indicating selectedinformation under normal operation to an anomalous display screen forindicating information about an anomalous state. Japanese PatentApplication Laid-Open No. 239400/1992 describes the technique ofcapturing images of surroundings in desired locations through use of acamera which is attached to the vehicle's ceiling by way of a rotary panhead and which is rotatable through 360° in a horizontal direction,subjecting the thus-captured images to image processing so as to makethem easily readable for the driver, and displaying the thus-processedimages on a display unit simultaneously or in a split screen, asrequired. Japanese Patent Application Laid-Open No. 143894/1993describes the technique of capturing images of a vehicle in a leftforward direction, a forward direction, and a right forward direction ofthe vehicle through use of three cameras, displaying the thus-displayedimages in a three-way split screen, and changing the proportion of thedisplay area of the leftward image to the display area of the rightwardimage within the split display in accordance with a steering angle.Japanese Patent Application Laid-Open No. 255423/1994 describes thetechnique of displaying an image captured by a camera together withrange scales based on a distance measured by a range sensor, anddisplaying an image concerning surroundings of obstacles in a scaled-upmanner, in a size so as to match the distance, thereby assisting drivingoperation. Japanese Patent Application Laid-Open No. 192199/1995describes the technique of three-dimensionally analyzing an obstacle onthe basis of a stereoscopic image, computing the distance between anextension of the side of a vehicle and the obstacle, computing aclearance between the vehicle and the obstacle, and displaying thethus-computed clearance when the vehicle passes through a narrow path.Japanese Patent Application Laid-Open No. 257482/1998 describes thetechnique of displaying an image in the form of a seamless single frameby means of merging a rearview, a left-side view, and a right-side viewof the vehicle into a single image. Japanese Patent ApplicationLaid-Open No. 283592/1998 describes the technique of three-dimensionallyanalyzing an image captured by a camera, determining the chance ofcontact arising between a vehicle and an obstacle, informing a driver ofthe result of determination, and displaying the spatial relationshipbetween the vehicle and the obstacle.

Even when driving support is effected on the basis of an image, thedriver must determine circumstances directly on the basis of his vision,and a display for assisting driving operation must be utilized for onlyauxiliary purpose. A limitation is imposed on the size of display meanssituated in the vicinity of a driver's seat. Display of a predicted pathof a vehicle together with an image is preferable for effectivelyassisting driving operation. A predicted path of the vehicle correspondsto information—which the driver can never gain by means of lookingdirectly at surroundings—and is very useful.

A predicted path of the vehicle displayed in an image captured by acamera or the like should be changed by an angle of the camera mountedon a vehicle body, a steering angle of the vehicle, the width of thevehicle body, and a wheelbase. A path cannot be accurately predictedwithout matching data pertaining to these items with an actual vehicle,and hence effective driving support cannot be effected. In terms ofproductivity of manufactured products, a driving support system isdesirably mountable on vehicles of many types. Preferably, required datacan be readily input in accordance with the specifications of anindividual vehicle. Further, under the present circumstances, a vehicleis not usually provided with a sensor for detecting the steering angleof a vehicle, which is required for predicting a path. Therefore,simplest detection of a steering angle is desirable.

SUMMARY OF THE INVENTION

An object of the present invention is to provide a vehicle drivingsupport system and a steering angle detection device, which easilycompensates for a difference in specifications of a vehicle on which thesystem is to be mounted, and which enables highly-accurate support.

Accordingly, the present invention provides a vehicle driving supportsystem which captures an image of the surroundings of a vehicle throughuse of a camera and displays on display means driving supportinformation along with the captured image, the system comprising:

a steering angle sensor for detecting a steering angle of a vehicle;

travel prediction means which predicts a travel path of the vehicle onthe basis of a steering angle detected by the steering angle sensor andcomputes the thus-predicted travel path as a predicted travel curve;

memory in which, in connection with specifications of any of a pluralityof vehicles, there are stored beforehand data pertaining to the spacewhich would be occupied when a vehicle travels along a predicted travelcurve computed by the travel prediction means;

selection operation means by way of which an input operation isperformed for selecting data to be stored in the memory, in accordancewith specifications of a vehicle; and

control means which computes, as driving support information, a pathpertaining to a space by which the vehicle is predicted to pass inaccordance with travel of the vehicle on the basis of the predictedtravel curve predicted by the travel prediction means and through use ofthe data selected by means of an input operation of the selectionoperation means, and which causes the display means to display thecomputed path.

According to the present invention, the vehicle driving support systemfor displaying driving support information along with an image of thesurroundings of a vehicle comprises a camera, display means, a steeringangle sensor, travel prediction means, memory, selection operationmeans, and control means. The steering angle sensor detects a steeringangle of the vehicle. The travel prediction means predicts the travelpath of the vehicle on the basis of the steering angle detected by thesteering angle sensor and computes the thus-predicted travel path as apredicted travel curve. In memory, in connection with specifications ofany of a plurality of vehicles there are stored beforehand datapertaining to the space which would be occupied when a vehicle travelsalong the predicted travel curve computed by the travel predictionmeans. By way of selection operation means, an input operation isperformed for selecting data to be stored in the memory, in accordancewith specifications of a vehicle.

On the basis of the predicted travel curve predicted by the travelprediction means, control means computes, as driving supportinformation, a path pertaining to a space by which the vehicle ispredicted to pass in accordance with travel of the vehicle, through useof the data selected by means of an input operation of the selectionoperation means. The thus-computed path is displayed on the displaymeans. When the path is displayed on the display means along with animage, the predicted path is displayed so as to match the video to bedisplayed on the display means. A highly-accurate predicted path isdisplayed, to thereby provide easily-understandable driving support.Data pertaining to specifications of several types of vehicles arestored in memory beforehand. Consequently, a highly-accurate predictedpath can be effected by means of selection of optimal data through useof the selection operation means, which is easier than selection bymeans of direct input of individual data sets.

Preferably, information concerning one or more of a wheeltread of thevehicle, a wheelbase of the vehicle, the amount of kingpin offset, and aheight at which the camera is to be mounted is stored in the memory asthe data.

According to the present invention, data pertaining to one or more of awheeltread of the vehicle, a wheelbase of the vehicle, the amount ofkingpin offset, and a height at which the camera is to be mounted arestored in the memory. The distance between the treads of tires disposedat respective ends of an axle shaft can be determined from thewheeltread. Further, the distance between the center lines of the frontand rear wheels can be determined from the wheelbase. These distancesfacilitate computation and prediction of a path on the basis of thesteering angle. Since the height at which a camera is to be mounted isalso given as data, the manner in which the predicted travel curvecomputed within the ground surface appears within the image captured bythe camera can be readily computed from the relationship between thestate of the ground surface captured by the camera and the shootingdirection of the camera. Since required data can be selected from thedata stored in the memory, the required data can be acquired by means ofthe driver performing only a selecting operation. Effective drivingsupport can be effected without involvement of efforts for entering datato compensate for a difference in specifications between the vehicles.

Since the data pertaining to a vehicle comprise one or more of awheeltread, a wheelbase, and the amount of kingpin offset, a minordifference of specifications of a vehicle can be compensated for. Hence,the data stored in the memory can be made sharable between vehicles ofvarious types. There can be prevented exhaustion of available memoryspace, which would otherwise be caused by storage of duplicate data.

The present invention also provides a vehicle driving support systemwhich captures an image of the surroundings of a vehicle through use ofa camera and displays on display means driving support information alongwith the captured image, the system comprising:

a steering angle sensor for detecting a steering angle of a vehicle;

travel prediction means which predicts a travel path of the vehicle onthe basis of a steering angle detected by the steering angle sensor andcomputes the thus-predicted travel path as a predicted travel curve;

memory in which there are stored beforehand data pertaining to the spacewhich would be occupied when a vehicle travels along a predicted travelcurve computed by the travel prediction means; and

control means which computes, as driving support information, a pathpertaining to a space by which the vehicle is predicted to pass inaccordance with travel of the vehicle on the basis of the predictedtravel curve predicted by the travel prediction means and through use ofthe data selected by means of an input operation of the selectionoperation means, and which causes the display means to display thecomputed path,

wherein the control means causes the display means to display the pathand does not cause the display means to display the path when the speedof the vehicle becomes greater than a predetermined speed.

According to the present invention, since a predicted path is displayedon display means, a path which changes in accordance with a steeringangle can be displayed in an easily-readable manner. Further, when thespeed of the vehicle becomes greater than a predetermined speed, thepath is not displayed. Thus, the driver can concentrate his use of thesense of sight on only driving.

The present invention also provides a vehicle driving support systemwhich captures an image of the surroundings of a vehicle through use ofa camera and displays on display means driving support information alongwith the captured image, the system comprising:

a steering angle sensor for detecting a steering angle of a vehicle;

travel prediction means which predicts a travel path of the vehicle onthe basis of a steering angle detected by the steering angle sensor andcomputes the thus-predicted travel path as a predicted travel curve;

memory in which there are stored beforehand data pertaining to the spacewhich would be occupied when a vehicle travels along a predicted travelcurve computed by the travel prediction means; and

control means which computes, as driving support information, a pathpertaining to a space by which the vehicle is predicted to pass inaccordance with travel of the vehicle on the basis of the predictedtravel curve predicted by the travel prediction means and through use ofthe data selected by means of an input operation of the selectionoperation means, and which causes the display means to display thecomputed path,

wherein the control means causes the display means to display guidelinesrepresenting extensions of sides of the vehicle and does not cause thedisplay means to display the guidelines when the speed of the vehiclebecomes greater than a predetermined speed.

According to the present invention, guidelines are displayed forsupporting driving of a vehicle. When the speed of the vehicle exceeds apredetermined speed, switching is made to prevent display of guidelines.When the vehicle speed exceeds a predetermined speed, the driver caneasily ascertain the path without display of guidelines.

Preferably, the control means makes the predetermined speed match aspeed limit imposed on vehicle-mounted equipment.

According to the present invention, the speed at or above whichguidelines or a predicted path is not displayed is determined so as tomatch a speed limit imposed on on-vehicle equipment. Consequently,effective driving support can be effected in association with the stateof use of the on-vehicle equipment.

The present invention also provides a vehicle driving support systemwhich captures an image of the surroundings of a vehicle through use ofa camera and displays on display means driving support information alongwith the captured image, the system comprising:

a steering angle sensor for detecting a steering angle of a vehicle;

travel prediction means which predicts a travel path of the vehicle onthe basis of a steering angle detected by the steering angle sensor andcomputes the thus-predicted travel path as a predicted travel curve;

memory in which there are stored beforehand data pertaining to the spacewhich would be occupied when a vehicle travels along a predicted travelcurve computed by the travel prediction means; and

control means which computes, as driving support information, a pathpertaining to a space by which the vehicle is predicted to pass inaccordance with travel of the vehicle on the basis of the predictedtravel curve predicted by the travel prediction means and through use ofthe data selected by means of an input operation of the selectionoperation means, and which causes the display means to display thecomputed path,

wherein the control means changes the length or color of a path to bedisplayed, in accordance with the speed of the vehicle.

According to the present invention, the length or color of a predictedpath to be displayed is changed whether the vehicle drives at a speedslower than a predetermined speed or is stationary. Therefore, drivingsupport can be effected so as to match a vehicle speed while displayingwhether the vehicle is driving or stationary.

Preferably, the control means changes the length or color of the pathstepwise in accordance with the vehicle speed.

According to the present invention, the length or color of a predictedpath is changed stepwise in accordance with the speed of the vehicle.Therefore, safety can be improved in accordance with the speed of thevehicle.

The present invention also provides a vehicle driving support systemwhich captures an image of the surroundings of a vehicle through use ofa camera and displays on display means driving support information alongwith the captured image, the system comprising:

a steering angle sensor for detecting a steering angle of a vehicle;

travel prediction means which predicts a travel path of the vehicle onthe basis of a steering angle detected by the steering angle sensor andcomputes the thus-predicted travel path as a predicted travel curve;

memory in which there are stored beforehand data pertaining to the spacewhich would be occupied when a vehicle travels along a predicted travelcurve computed by the travel prediction means;

obstacle detection means for detecting an obstacle which is present inthe travel direction of the vehicle; and

control means which computes, as driving support information, a pathpertaining to a space by which the vehicle is predicted to pass inaccordance with travel of the vehicle on the basis of the predictedtravel curve predicted by the travel prediction means and through use ofthe data selected by means of an input operation of the selectionoperation means, and which causes the display means to display thecomputed path,

wherein the control means changes the length or color of the path, inaccordance with the result of detection performed by the obstacledetection means.

According to the present invention, since the length or color of thepath is changed in accordance with the result of obstacle detectionperformed by the obstacle detection means, the driver can readilyascertain the presence of an obstacle and acquire information about thedistance to the obstacle. Thus, effective driving support can beprovided for avoiding the obstacle.

Preferably, the obstacle detection means outputs one of predetermineddetection signal of several stages in accordance with the distance tothe detected obstacle, and the control means changes the length or colorof the path in stages in accordance with a detection signal output fromthe obstacle detection means.

According to the present invention, since the length or color of apredicted path can be changed in accordance with the distance to anobstacle, driving support pertaining to an approach to an obstacle canbe provided in an easily-understandable manner.

The present invention also provides a vehicle steering angle detectorfor detecting a steering angle of a vehicle from an exposed portion of asteering shaft which rotates in response to the actuation of a steeringwheel, the exposed portion being located within a vehicle body, thedetector comprising:

a steering angle sensor which detects the amount of angular displacementof the steering shaft at the exposed portion of the steering shaft; and

a bracket whose base end is secured to the vehicle body in the vicinityof the exposed portion of the steering shaft, by means of utilization ofscrews to be used for fixing bearings of the steering shaft to thevehicle body, and which has a geometry satisfying requirements for thevicinity of the steering shaft of the vehicle so that the steering anglesensor can be attached to the front end of the bracket.

According to the present invention, the steering angle of a vehicle canbe detected through use of an exposed portion of a steering shaft whichrotates in response to actuation of a steering wheel, the exposedportion being located within a vehicle body. A steering angle sensor isattached to the vicinity of the exposed portion of the steering shaftthrough use of a bracket and by means of utilization of screws to beused for mounting bearings of the steering shaft to the vehicle body.The bracket has a geometry satisfying requirements for the vicinity ofthe steering shaft of the vehicle such that the base end of the bracketis mounted on the vehicle body and such that the steering angle sensoris attached to the front end of the bracket. Accordingly, the rotationof the steering shaft is accurately detected without fail, and thesteering angle to be used for predicting the path of a vehicle can bereadily detected.

Preferably, the vehicle steering angle detector further comprises asplittable shaft gear to be fitted around the exposed portion of thesteering shaft; and a detection gear which is rotatably supported by thebracket and meshes with the shaft gear and whose rotation is detected bythe steering angle sensor.

According to the present invention, a splittable shaft gear is fittedaround the exposed portion of the steering shaft, and a detection gearwhich meshes with the shaft gear is rotatably supported. The rotation ofthe detection gear is detected by the steering angle sensor, and hencethe rotation of the steering shaft can be detected without fail. Thethus-detected rotation can be utilized for predicting the path of thevehicle.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram showing the schematic configuration of aparking assist system 1, which is an embodiment of a driving supportsystem according to the present invention.

FIG. 2 is a block diagram schematically showing the electricalconfiguration of an image processing circuit 19 provided in a parkingassist ECU 6 shown in FIG. 1.

FIG. 3 is a flowchart showing control procedures to be performed by theparking assist ECU 6 shown in FIG. 1.

FIG. 4 is an illustration showing an example video displayed on aninformation display 4 shown in FIG. 1.

FIG. 5 is an illustration showing another example video displayed on theinformation display 4 shown in FIG. 1.

FIG. 6 is an illustration showing still another example video displayedon the information display 4 shown in FIG. 1.

FIG. 7 is a flowchart showing control procedures to be performed by theparking assist ECU 6 shown in FIG. 1 according to another embodiment ofthe present invention.

FIG. 8 is a flowchart showing control procedures to be performed by theparking assist ECU 6 shown in FIG. 1 according to yet another embodimentof the present invention.

FIG. 9 is an exploded perspective view showing the structure of asteering angle detector 12 shown in FIG. 1.

FIG. 10 is a simplified perspective view showing the configuration ofthe steering angle detector shown in FIG. 9.

FIGS. 11A and 11B are perspective views showing the geometries of mountbrackets 50 shown in FIG. 9.

FIG. 12 is an illustration showing an example exposed section 64 atwhich the steering angle detector 9 shown in FIG. 9 is to be mounted.

FIGS. 13A to 13C are illustrations showing a difference in the exposedportions 64 according to the type of a vehicle.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

FIG. 1 schematically shows the configuration of a parking assist system,which is an embodiment of a driving support system according to oneembodiment of the present invention. When a vehicle 3 drives andattempts to park along a white line 2 a of a parking lot 2, an image isdisplayed on an information display 4 serving as display means, therebysupporting the driving operation of the vehicle 3. On the display screenof the information display 4, a predicted path 5 a of the vehicle 3 andguidelines 5 b, which are extensions of the vehicle body, are displayedtogether with an image of the parking lot 2. Parking operation of thedriver of the vehicle 3 is supported on the basis of a rearviewappearing on the information display 4, the predicted path 5 a, and theguidelines 5 b.

Driving support information appearing on the information display 4 isprepared by a parking assist ECU 6 which is one a plurality ofelectronic control units (hereinafter abbreviated “ECUs”) provided inthe vehicle 3. A signal representing the result of operation of asteering wheel 7 or a transmission 8 of the vehicle 4 is input to theparking assist ECU 6. The parking assist ECU 6 sends a warning oreffects voice guidance by way of a speaker 9.

A camera unit 10 captures an image of the parking lot 2 to be displayedon the information display 4. The camera unit 10 is mounted on anelevated location at the rear end of the vehicle 3. A view field 10 a ofthe camera unit 10 is directed toward the parking lot 2. The camera unit10 outputs a video signal of the NTSC system, and the thus-output videosignal is input to the parking assist ECU 6. The parking assist ECU 6effects image processing such that the predicted path 5 a and theguidelines 5 b are superimposed on the image captured by the camera unit10. The thus-processed image is output to the information display 4 as avideo signal of the NTSC system.

The predicted path 5 a is changed in accordance with the angle of asteering shaft 11 and in response to operation of the steering wheel 7.In order to detect a steering angle from the steering shaft 11, asteering angle detector 12 is disposed in the vicinity of a portion ofthe steering shaft 11 exposed outside the vehicle body. A steering anglesensor 13 is provided in the steering angle detector 12, and a signalrepresenting the result of detection of a steering angle is input to theparking assist ECU 6. On the basis of the steering angle detected by thesteering angle sensor 13, the parking assist ECU 6 calculates apredicted travel curve of the vehicle 3. On the basis of a wheelbase(i.e., the distance between the centers of the front and rear axleshafts), a wheel tread (i.e., the distance between the treads of tiresprovided on respective ends of an axle shaft), and/or the amount ofkingpin offset, there is computed a predicted path 5 a representing aspace, which space would occupy when the vehicle travels along apredicted travel curve.

The manner in which the predicted path 5 a is read on the display screenof the information display 4 varies with the position at which thecamera unit 10 is mounted. The parking assist ECU 6 displays thepredicted path 5 a on the information display 4 through use of theposition at which the camera 10 is mounted. Information about theposition where the camera unit 10 is mounted is also utilized when theguidelines 5 b showing the extensions of the sides of the vehicle bodyare displayed on the information display 4. The direction of theguidelines 5 b is fixed with respect to the view field 10 a of thecamera unit 10. Therefore, the direction of the guidelines 5 b ischanged in accordance with the position at which the camera unit 10 ismounted.

The screen of the information display 4 is adjusted in accordance withthe brightness of surroundings. The brightness of surroundings isdetected by a con-light sensor 14 used for controlling an illuminatingstate of an illumination system of the vehicle 3 and is controlled onthe basis of an output from the con-light sensor 14. The brightness andcontrast of the illumination system are adjusted in accordance with thebrightness of surroundings of the vehicle 3 detected by the con-lightsensor 14, thereby effecting readily-comprehensible driving support.

In-car equipment, such as a navigation system 15 and audio equipment 16,is provided in the vehicle 3. A limitation is imposed on the operatingspeed of the navigation system 15 associated with driving of a vehicle,in accordance with the traveling speed of the vehicle 3. Provided that,for instance, 10 km/h is taken as a reference speed, the navigationsystem 15 is provided with the function of operating at only a speedlower than 10 km/h.

When the vehicle 3 travels backward, detection of obstacles on a roadsurface can be made through use of a back sonar 17. The back sonar 17serving as obstacle detection means detects obstacles through use ofultrasonic waves. The parking assist ECU according to the presentembodiment changes the displaying state of a display appearing on theinformation display 4, by means of utilization of an output from theback sonar 17.

The parking assist ECU 6 includes a CPU 18 for controlling the entireparking assist ECU 6 and an image processing circuit 19 which effectsimage processing for displaying an image on the information display 4. Asignal indicating the speed of the vehicle 3 and a signal indicating achanged state of the transmission 8 enter the CPU 18, along with asignal output from the con-light sensor 14 and a signal output from theback sonar 17. On the basis of these signals, the CPU 18 can control theimage processing circuit 19, to thereby change the state of an imageappearing on the information display 4.

FIG. 2 shows the electrical configuration of the image processingcircuit 19 included in the parking assist ECU 6 shown in FIG. 1. Imageprocessing operations performed in the image processing circuit 19 areperformed by a digital signal processor (hereinafter abbreviated “DSP”).An image captured by the camera unit 10 is input to an amplifier/filtercircuit 22 in the form of an NTSC signal. The thus-input image is ananalog signal, and hence an analog-to-digital converter (hereinafterabbreviated as “ADC”) 23 converts the analog signal into a digitalsignal. The thus-converted digital signal is stored in a field buffercircuit 24. An image signal output from the amplifier/filter circuit 22is also delivered to a synch separation circuit 25, in which ahorizontal synch signal and a vertical synch signal are separated fromthe image signal. The thus-separated synch signals are input to the DSP20.

A steering angle detection signal output from the steering angle sensor13 is also input to the DSP 20 by way of the ADC 26. In accordance witha program which has been stored in program memory 27 beforehand, the DSP20 performs image processing. At the time of image processing, there areproduced an image to be used for displaying the predicted path 5 a andan image to be used for displaying the guidelines 5 b, such as thoseshown in FIG. 1. These images are formed from the data previously storedin data memory 28, by means of computation. In the data memory 28 thereare previously stored data pertaining to many types of vehicles. Inconnection with each type of vehicle, data comprise the width of avehicle, a wheeltread representing the distance between the treads oftires provided at both ends of the axle shaft, a wheelbase indicatingthe distance between the center lines of the front and rear axle shafts,the amount of kingpin offset, and the position on a vehicle body inwhich the camera unit 10 is to be mounted. Not all these pieces ofinformation are necessary. However, if all these pieces of informationare available, the accuracy of prediction of a path can be improved.Since contents stored in backup memory 29 are preserved by means of abattery, data required to be backed up, such as data or parameters to beused when the DSP 20 performs image processing, can be stored.

An image produced as a result of image processing performed by the DSP20 is stored in two field buffer circuits 31 and 32, in which selectionbetween image signals output from the field buffer circuits 31 and 32can be made by a switch (hereinafter abbreviated as “SW”) circuit 30.The image signal selected by the SW circuit 30 is converted into ananalog signal by means of a digital-to-analog converter (hereinafterabbreviated as “DAC”) circuit 33. The analog signal output from the DACcircuit 33 is delivered to the information display 4 as a video outputsignal, by way of a filter/amplifier circuit 34. The power required foractivating the entire image processing circuit 19 is supplied from apower source 35. When the power source 35 is turned on, a reset signalis supplied from a reset circuit 36. The DSP 20 performs an operation insynchronism with a clock signal supplied from a CLK/frequency-dividercircuit 37 or a signal produced by means of division of the clocksignal.

Selection between the data stored in the data memory 28 in accordancewith the type of a vehicle to be used is made by means of switchingaction of a DIP switch 38 serving as selection operation means. The datamemory 28 is formed from electrically-rewritable non-volatile memory;for example, flash memory. Data are prepared beforehand for each of therequired specifications of vehicles on which the parking assist system 1can be mounted. The thus-prepared data are stored in the data memory 28.The relationship between settings of the DIP switch 38 and use of theDIP switch 38 is prepared by the person who prepares the data. Settingsof the DIP switch 38 are made in a service workshop or the like afterthe user of the parking assist system 1 has determined the type ofvehicle 3. Jumper switches may be used in lieu of the DIP switch 38.

FIG. 3 shows the outline of control procedures to be performed by theparking assist ECU 6 according to the embodiment shown in FIG. 1. Powerof the parking assist ECU 6 is turned on in step a0, wherewith theparking assist ECU 6 commences an operation. In step a1, a determinationis made as to the state of a reverse signal; that is, whether or not thetransmission 8 is brought in a reverse mode. If the reverse signal is inan ON state, in step a2 a determination is made as to whether or not thespeed of backward driving of the vehicle 3 is lower than 10 km/h. Whenthe speed of backward driving is determined to be under 10 km/h, in stepa3 an ON flag provided in internal memory of the parking assist ECU 6 isset to a value of 1. In step a4 a rearview image captured by the cameraunit 10 is displayed on the information display 4. At this time, theguidelines 5 b are also displayed.

In step a5 a determination is made as to the state of a turn signal. Ifthe turn signal is in an OFF state, in step a6 a steering angle isdetected on the basis of a signal output from the steering angle sensor13. In step a7 a determination is made as to whether or not there is aninput from the back sonar 17. Upon detection of an obstacle locatedwithin a predetermined distance from the vehicle, the back sonar 17reports the presence of an obstacle by means of emitting a continuousbeep sound. If the beep sound is detected, in step a8 a first predictedpath is displayed, as shown in FIG. 4. If in step a7 the back sonar 17has not detected any obstacles within the predetermined range ofdistance, no continuous beep sound is emitted. Processing then proceedsto step a9, where a determination is made as to whether or not the speedof backward driving of the vehicle 3 is greater than 0 or whether thevehicle 3 is driving or stationary. If the vehicle is not stationary, instep a10 a second predicted path is displayed, as shown in FIG. 5. Instep a9 the vehicle 3 is determined to be stationary, a third predictedpath shown in FIG. 6 is displayed. Processing returns to step a1 aftercompletion of processing pertaining to step a8, a10, or a11.

If the reverse signal is determined to be in an OFF state in step a1,processing proceeds to step a12, where a determination is made as towhether or not the ON flag assumes a value of 1. If the ON flag assumesa value of 1, an internal timer of the parking assist ECU 6 is set to apredetermined period of time; for example, one second. In step a14 arearview image captured by the camera unit 10 is displayed on theinformation display 4. In this case, however, the predicted path 5 a isdisplayed on the information display 4, but the guidelines 5 b are notdisplayed. The rearview image is displayed only for a period of time setin the timer in step a13. After lapse of the period of time set in thetimer, or, if in step a2 the speed of backward driving is determined tobe 10 km/h or more, in step a15 the display screen on the informationdisplay 4 is returned a display screen which has been displayed beforedriving support information is displayed; for example, a route guidancescreen of the navigation system 15. In step a16 the ON flag is reset to0. After termination of processing pertaining to step a16 or when it isdetermined that the ON flag is not set to a value of 1, operationprocedures are terminated in step a17.

In the present embodiment, in step a5 the status of a turn signal isdetermined. If the turn signal is determined to be in an ON state, instep a18 a determination is made as to whether either a left-turn signalor a right-turn signal is in an ON state. If the left-turn signal isdetermined to be in an ON state, in step a19 there are displayedguidelines 5 b to be used when a vehicle is to be parked betweenvehicles arranged end to end and on the left side of the road. In stepa18 if the right-turn signal is determined to be in an ON state, in step20 there are displayed guidelines 5 b to be used when a vehicle is to beparked between the vehicles arranged end to end and on the left side ofthe road. These guidelines for end-to-end parking can be displayed inaccordance with a program stored in the program memory 27 shown in FIG.2 and the data stored in the data memory 28.

FIG. 4 shows the first predicted path displayed in step a8 shown in FIG.3. An image 40 displayed on a display screen of the information display4 is formed by means of superimposing a predicted path 41 and guidelines42 on the image captured by the camera unit 10. The guidelines 42 aredisplayed along with a range scale 43. A caution 44 is also included ina part of the image 40 for prompting direct visual check. FIG. 5 showsthe second predicted path displayed in step a10 shown in FIG. 3. FIG. 6shows the third predicted path displayed in step a11 shown in FIG. 3.

The predicted path 41 included in each of the images 40 shown in FIGS.4, 5, and 6 is changed in length and color. On the basis of datapertaining to a steering angle and a vehicle, the predicted path 41 isredrawn at all times. The right and left side lines of the vehicle and arange of area extending over 5 meters from the rear end of the vehicleare displayed. Since FIG. 4 shows no obstacles located near the vehicle,the predicted path 41 is displayed in red so as to extend to a range of,for example, about 0.5 meters. Since the vehicle 3 shown in FIG. 6 isstationary, the predicted path 41 is displayed in, for example, a lightblue so as to extend to a range of 5 meters. The vehicle shown in FIG. 5is in an intermediate state between the state shown in FIG. 4 and thestate shown in FIG. 6. The predicted path 41 is displayed in, forexample, orange and so extend to an intermediate range of about 2meters.

The guidelines 42 shown in FIGS. 4 to 6 are displayed symmetricallywhile being fixed in the center of the information display 4. The areafrom a position 0.5 meters from the rear end of the vehicle to aposition 5 meters from the same is displayed in the form of theguidelines 42. The range scale 43 indicating distance is displayed inconjunction with the guidelines 42. A wide-angle lens is used for thecamera unit 10 in order to enable the driver to check obstacles within arange covering rear blind spots of the vehicle along with the display ofthe predicted path 41 and the guidelines 42.

FIG. 7 shows control procedures according to another embodiment forchanging the length and color of the predicted path 41, which is shownin FIGS. 4, 5, and 6, in accordance with only a speed. In the presentembodiment, processing pertaining to steps a5 and a18 to a20 is notperformed. In the present embodiment, processing pertaining to steps b0to b4 and processing pertaining to steps b6, b8, and b10 to b17 areequal to processing pertaining to steps a0 to a4, a6, a8, and a10 to a17shown in FIG. 3. In the present embodiment, after a steering angle hasbeen detected in step b6, in step b7 a determination is made as towhether or not the vehicle speed of the vehicle exceeds the speed of asecond stage; for example, a speed of 5 km/h. If the speed is determinedto exceed a speed of 5 km/h, the predicted path 41 of first stage isdisplayed in step b8. If in step b7 the speed is determined to notexceed 5 km/h, in step b9 a determination is made as to whether or notthe speed is greater than 0; that is, whether the speed is greater than0 and lower than 5 km/h. If it is determined that the vehicle is notstationary, in step b 10 the second predicted path is displayed. Incontrast, if it is determined that the vehicle is stationary, in stepb11 the third predicted path is displayed.

FIG. 8 shows control procedures according to still another embodiment,wherein a warning is changed in accordance with the distance to anobstacle, by means of combination of emission of continuous beep soundand intermittent beep sound after the back sonar 17 has detected theobstacle. When the distance to an obstacle becomes less than apredetermined value, the back sonar 17 emits a continuous beep sound. Incontrast, if a distance is greater than a predetermined value, the backsonar 17 emits an intermittent beep sound. In the present embodiment,the display shown in FIG. 4 and the display FIG. 5 are made tocorrespond to each other. In the event that no obstacles are detected, adisplay such as that shown in FIG. 6 is displayed. A change in thedisplay reflects on only the back sonar 17. The present embodiment isanalogous to that shown in FIG. 7, except that in steps c7 and c9 shownin FIG. 8 the mode of display of a predicted travel path is changed inaccordance with a change in the signal output from the back sonar 17.Processing pertaining to steps c0 to c6, c8, and c10 to c17 is equal tothat pertaining to steps b0 to b6, b8, and b10 to b17 shown in FIG. 7.

In the embodiments which have been described above, the length and colorof the predicted path 41 and those of the guidelines 42 are changed inaccordance with a vehicle speed or a distance to an obstacle. Either thelength or color of the predicted path 41 and either the length or colorof the guidelines 42 may be changed. Alternatively, the length and colorof the predicted path 41 and those of the guidelines 42 may be changedcontinuously with a vehicle speed or a distance to an obstacle. In anyevent, the driver can ascertain a change in circumstances.

FIG. 9 is an exploded view of configuration of the steering angledetector 12 shown in FIG. 1. The steering angle detector 12 is supportedby a mount bracket 50 attached to the vehicle body. A shaft gear 51 isattached to the steering shaft 11. The shaft gear 51 can be separatedinto two pieces and can be fitted around the steering shaft 11 from thesides thereof. Angular displacement transmitted from the steering shaft11 to the shaft gear 51 is transmitted to a detection gear 52 attachedto the rotary shaft of the steering angle sensor 13. The steering anglesensor 13 is attached to the mount bracket 50 such that the detectiongear 52 meshes with the shaft gear 51. The shaft gear 51 is fittedaround the steering shaft 11 by way of a spacer 53, even when the outerdiameter of the steering shaft 11 differs in accordance with the type ofa vehicle. A change in the outer diameter of the steering shaft 11 dueto a change in the type of vehicle can be accommodated by means of achange in the thickness of the spacer 53. The steering angle sensor 13and the detection gear 52, which are attached to the mount bracket 50,and the shaft gear 51 attached to the steering shaft 11 are accommodatedin the space defined by combination of unit covers 54 and 55. Unitcovers 54 and 55 are fastened to the steering shaft 11, through use offastening screws 57. The mount bracket 50 is attached to boltsprojecting from the vehicle body, by means of mount nuts 58. Mountsections 59 are formed on the base end of the mount bracket 50, andmount holes 60 are formed in the respective mount sections 59 so as topermit insertion of bolts.

FIG. 10 shows the structure of a steering angle detector 12 shown inFIG. 9. The shaft gear 51 is formed so as to have a greater number ofteeth than the detection gear 52. While the shaft gear 51 makes onerotation, the detection gear 52 makes two and one-half rotations. Theshaft gear 51 is attached to the steering shaft 11 by way of the elasticspacer 53 made of, for example, rubber. At the time of attachment of theshaft gear 51 to the steering shaft 11, the steering shaft 11 is held ata steering angle of 0°; that is, at a neutral position. The shaft gear51 is attached to the steering shaft 11, and the steering angle sensor13 is attached to the mount bracket 50 such that the detection gear 52meshes with the shaft gear 51. In this state, the steering angle sensor13 outputs a voltage corresponding to a detected steering angle. Anoutput voltage of 0 volt indicates that the steering shaft 11 is in aneutral position. A positive signal or a negative sign indicates thedirection of a steering angle. Further, the absolute value of the outputvoltage increases with the steering angle.

FIGS. 11A and 11B show the geometry of the mount bracket 50. The mountbracket 50 is used in the form of a mount bracket 50 a shown in FIG. 11Aor in the form of a mount bracket 50 b shown in FIG. 11B, in accordancewith the type of a vehicle of interest. The mount brackets 50 a and 50 bare formed from steel plates having a thickness of about 2 mm. The mountsections 59, the mount holes 60, a steering shaft insert section 61, anda steering angle sensor mount section 62 are formed in each of the steelplates by means of processing. Moreover, step sections 63 are formed inthe mount bracket 50 b shown in FIG. 11B.

FIG. 12 shows the structure of the vehicle body on which the mountbracket 50 is to be mounted. The mount bracket 50 is attached to thearea in the vicinity of an exposed portion 64 of the steering shaft 11.The mount bracket 50 is secured to the exposed portion 64 by utilizationof support bolts 67 which are to be used for mounting, on a vehicle 66,a steering column tube 65 for supporting the steering shaft 11. Themount holes 60 of the mount sections 59 are fitted to correspondingscrew threads of the support bolts 67, and the mount nuts 58 shown inFIG. 9 are screwed onto the screw threads for fastening.

FIGS. 13A to 13C show the surroundings of the exposed section 64, whichvary in accordance with the type of vehicle. As shown in FIGS. 13A and13B, in the case of a vehicle whose steering column tube 65 iscomparatively short, the mount bracket 50 a shown in FIG. 11A isemployed. In contrast, in the case of a vehicle whose steering columntube 65 is comparatively long, the mount bracket 50 b which has thesteps 63 shown in FIG. 11B is employed.

In the present embodiment, driving support is effected when the driverattempts to park his vehicle. Even in a case where the vehicle driversforward, driving support can be effected in the same manner by means ofdisplaying a predicted path. Although the driver can look directly aheadso as to obtain the forward view of the vehicle, only an experienceddriver can correctly predict a path resulting from the steering angle.If the present invention is applied to such a case, a predicted pathresulting from a steering angle can be correctly displayed, thuseffecting easily-understandable driving support.

As has been mentioned above, data to be stored in memory are selectedbeforehand, and the thus-selected data can be used for computing a pathalong a predicted path curve of a vehicle, which curve is to bedisplayed along with an image captured by a camera. Even in a case wheredriving support systems are mounted on vehicles of differentspecifications, the driving support systems of the same configurationcan perform effective driving support, so long as data are stored inmemory beforehand.

According to the present invention, the data to be used for computing apath comprise one or more of a wheeltread of a vehicle, a wheelbase ofthe vehicle, the amount of kingpin offset, and the height at which acamera is to be mounted. Even in the case of a vehicle which appears tobe different in type, if the vehicle involves the same wheeltread andwheelbase, the same amount of kingpin offset, and the same height, thereis no necessity for using different data. Even when there is a minordifference in specifications, data which are stored in memory as commondata can be used for many types of vehicles.

According to the present invention, a predicted path of the vehicle isdisplayed, and there can be displayed a path which is predicted on thebasis of the direction and steering angle of the current vehicle. Sincethe speed of a vehicle exceeds a predetermined speed, a predicted pathis not displayed. Accordingly, there can be prevented diversion ofattention from driving, which would otherwise be caused by a displayappearing on display means. The driver can focus his attention on visualobservation of the surroundings of the vehicle, thereby improvingsafety.

According to the present invention, guidelines which are extensions ofthe sides of the vehicle are displayed along with an image captured bythe camera, thereby giving the driver guidance on the direction andspeed of the vehicle. Since no guidelines are displayed when the vehicledrivers at a speed higher than a predetermined speed, the driver canfocus his attention on directly observing the surroundings of thevehicle.

According to the present invention, a speed at or above which guidelinesfor driving supporting purpose and a predicted path are not displayed isdetermined so as to match a speed limit imposed on vehicle-mountedequipment. Low-speed driving support can be efficiently effected alongwith vehicle-mounted equipment. When the vehicle speed of the vehicleincreases, it is desirable for the driver to check the surroundingsthrough use of his sight rather than on the basis of informationdisplayed on the display means. Thus, there is prevented diversion ofdriver's attention, which would otherwise be caused by display means,thus improving safety.

According to the present invention, the length or color of a predictedpath is changed in accordance with vehicle speed, thereby enablingappropriate driving in accordance with the driving state of the vehicle.

According to the present invention, the length and color of a predictedcurve are changed stepwise in accordance with vehicle speed. Therefore,driving support can be effected while the degree of safety is improvedin accordance with vehicle speed.

According to the present invention, the length or color of a predictedpath of the vehicle is changed on the basis of the result of detectionof an obstacle. In the event of an obstacle being present along the pathof the vehicle, an easily-understandable display is providing as thevehicle approaches the obstacle, thus improving safety.

According to the present invention, in the event that obstacle detectionmeans has detected an obstacle, predetermined detection signalscorresponding to a plurality of steps are output in accordance with thedistance to the obstacle. The length or color of a predicted path to bedisplayed on display means is changed in response to an output detectionsignal. The result of detection performed by the obstacle detectionmeans is made to correspond to the display of a path, thus facilitatingfocusing of attention on an approach to the obstacle.

According to the present invention, even in the case of a vehicle whichis not equipped with the function of detecting steering angle, therotation of a steering shaft can be detected by way of an exposedportion of the steering shaft, and the thus-detected steering angle canbe used for predicting a path.

According to the present invention, the rotation state of the steeringshaft is detected by a splittable shaft gear. The thus-detected rotatingstate is transmitted to a detection gear. The rotation state of thedetection gear is detected by a steering angle sensor as a variation insteering angle. Therefore, a steering angle can be readily detected fromthe steering shaft. Although the location of an exposed portion of thesteering shaft varies according to the type of the vehicle of interest,a difference in type of vehicle can be compensated for by means ofselection of brackets of different shapes. A steering angle sensor isreadily mounted on a plurality of types of vehicles, thus rendering thesteering sensor sharable among vehicles.

According to the present invention, the shaft gear to be attached to asteering shaft is splittable. Hence, the shaft gear can be easilyattached to an exposed portion of the steering shaft. The rotation ofstate of the steering shaft is transmitted to the detection gear. Thesteering angle sensor can readily detect the rotation state of thedetection gear resulting from rotation of the steering shaft. So long asthe shaft gear is formed so as to differ in the number of teeth from thedetection gear or such that the number of teeth of the shaft gear isgreater than that of the detection gear, the rotation angle of thedetection gear becomes greater than that of the steering angle.Therefore, the accuracy of the steering angle detected by the steeringangle sensor can be improved.

What is claimed is:
 1. A driving support system for a vehiclecomprising: a camera for capturing an image of surroundings of thevehicle; a steering angle sensor for detecting a steering angle of thevehicle; a travel prediction section for predicting a travel path of thevehicle on the basis of the steering angle detected by the steeringangle sensor to calculate a predicted travel curve based on the travelpath predicted; a memory storing data on specifications for each ofdifferent types of vehicles, the data on specifications pertaining to aspace occupied by each of the different types of vehicles when thevehicle moves along the predicted travel curve obtained by the travelprediction section; a selection operation section for allowing a user toselect a specific data for the vehicle from the data for the differenttypes of vehicle; a controller for computing a path pertaining to aspace where the vehicle is to pass in accordance with the movement ofthe vehicle, on the basis of the predicted travel curve predicted by thetravel prediction section, using the specific data selected by theuser's selection in the selection operation section; and a displaysection for displaying the path calculated in the controller and theimage captured by the camera.
 2. The driving support system as definedin claim 1, wherein the data in the memory comprises informationconcerning a wheeltread of the vehicle, a wheelbase of the vehicle, theamount of kingpin offset, or a height at which the camera is to bemounted.
 3. A driving support system for a vehicle comprising: a camerafor capturing a image of surroundings of the vehicle; a steering anglesensor for detecting a steering angle of the vehicle; a travelprediction section for predicting a travel path of the vehicle on thebasis of the steering angle detected by the steering angle sensor tocalculate a predicted travel curve based on the travel path predicted; amemory storing data on specification of the vehicle, the data onspecification pertaining to a space occupied by the vehicle when thevehicle moves along the predicted travel curve obtained by the travelprediction section; a controller for computing a path pertaining to aspace where the vehicle is to pass in accordance with the movement ofthe vehicle, on the basis of the predicted travel curve predicted by thetravel prediction section, using the data on specification of thevehicle; and a display section for displaying the path computed in thecontroller and the image captured by the camera, wherein the controllercauses the display section to display the path computed in thecontroller if a speed of the vehicle does not exceed a predeterminedspeed.
 4. The driving support system as defined in claim 3, wherein thecontroller does not cause the display section to display the pathcomputed in the controller if a speed of the vehicle exceeds thepredetermined speed.
 5. The driving support system as defined in claim3, wherein the control section matches the predetermined speed to aspeed limit imposed on vehicle-mounted equipment.
 6. A driving supportsystem for a vehicle comprising: a camera for capturing a image ofsurroundings of the vehicle; a steering angle sensor for detecting asteering angle of the vehicle; a travel prediction section forpredicting a travel path of the vehicle on the basis of the steeringangle detected by the steering angle sensor to calculate a predictedtravel curve based on the travel path predicted; a memory storing dataon specification of the vehicle, the data on specification pertaining toa space occupied by the vehicle when the vehicle moves along thepredicted travel curve obtained by the travel prediction section; acontroller for computing a path pertaining to a space where the vehicleis to pass in accordance with the movement of the vehicle, on the basisof the predicted travel curve predicted by the travel predictionsection, using the data on specification of the vehicle; and a displaysection for displaying the path computed in the controller and the imagecaptured by the camera, wherein the controller causes the displaysection to display guidelines extending along with both sides of thevehicle when a speed of the vehicle does not exceed a predeterminedspeed.
 7. The driving support system as defined in claim 6, wherein thecontroller does not cause the display section to display the guidelineswhen the speed of the vehicle exceeds the predetermined speed.
 8. Thedriving support system for a vehicle comprising: a camera for capturinga image of surroundings of the vehicle; a steering angle sensor fordetecting a steering angle of the vehicle; a travel prediction sectionfor predicting a travel path of the vehicle on the basis of the steeringangle detected by the steering angle sensor to calculate a predictedtravel curve based on the travel path predicted; a memory storing dataon specification of the vehicle, the data on specification pertaining toa space occupied by the vehicle when the vehicle moves along thepredicted travel curve obtained by the travel prediction section; acontroller for computing a path pertaining to a space where the vehicleis to pass in accordance with the movement of the vehicle, on the basisof the predicted travel curve predicted by the travel predictionsection, using the data on specification of the vehicle; and a displaysection for displaying the path computed in the controller and the imagecaptured by the camera, wherein the controller changes the length orcolor of the path displayed, in accordance with a speed of the vehicle.9. The driving support system as defined in claim 8, wherein thecontroller changes the length or color of the path in stepwise accordingto the speed of the vehicle.
 10. A driving support system for a vehiclecomprising: a camera for capturing a image of surroundings of thevehicle; a steering angle sensor for detecting a steering angle of thevehicle; a travel prediction section for predicting a travel path of thevehicle on the basis of the steering angle detected by the steeringangle sensor to calculate a predicted travel curve based on the travelpath predicted; a memory storing data on specification of the vehicle,the data on specification pertaining to a space occupied by the vehiclewhen the vehicle moves along the predicted travel curve obtained by thetravel prediction section; an obstacle detecting section for detectingan obstacle which is present in a travel direction of the vehicle; acontroller for computing a path pertaining to a space where the vehicleis to pass in accordance with the movement of the vehicle, on the basisof the predicted travel curve predicted by the travel predictionsection, using the data on specification of the vehicle; and a displaysection for displaying the path computed in the controller and the imagecaptured by the camera, wherein the controller changes the length orcolor of the path, in accordance with a detection result performed bythe obstacle detecting section.
 11. The vehicle driving support systemas defined in claim 10, wherein the obstacle detecting section outputsat least one of a plurality of predetermined detection signals inaccordance with a distance to the obstacle detected, and the controllerchanges the length or color of the path in stepwise according to the oneof the detection signals output from the obstacle detecting section.